altoslib: Fix Idle Monitor on TeleMega v3

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index ba6f1a82584089c46a643d4e67d03af691ce39aa..df81c9ddea979a3b56fb2ca91760c33aa9204afb 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -22,13 +22,17 @@ import java.util.concurrent.*;
 import java.io.*;
 
 public class AltosIMU implements Cloneable {
-       public int              accel_x;
-       public int              accel_y;
-       public int              accel_z;
+       public int              accel_x = AltosLib.MISSING;
+       public int              accel_y = AltosLib.MISSING;
+       public int              accel_z = AltosLib.MISSING;
 
-       public int              gyro_x;
-       public int              gyro_y;
-       public int              gyro_z;
+       public int              gyro_x = AltosLib.MISSING;
+       public int              gyro_y = AltosLib.MISSING;
+       public int              gyro_z = AltosLib.MISSING;
+
+       public int              mag_x = AltosLib.MISSING;
+       public int              mag_y = AltosLib.MISSING;
+       public int              mag_z = AltosLib.MISSING;
 
        public static final double      counts_per_g = 2048.0;
 
@@ -58,6 +62,11 @@ public class AltosIMU implements Cloneable {
                        gyro_y = Integer.parseInt(items[6]);
                        gyro_z = Integer.parseInt(items[7]);
                }
+               if (items.length >= 12) {
+                       mag_x = Integer.parseInt(items[9]);
+                       mag_y = Integer.parseInt(items[10]);
+                       mag_z = Integer.parseInt(items[11]);
+               }
                return true;
        }
 
@@ -71,6 +80,11 @@ public class AltosIMU implements Cloneable {
                n.gyro_x = gyro_x;
                n.gyro_y = gyro_y;
                n.gyro_z = gyro_z;
+
+               n.mag_x = mag_x;
+               n.mag_y = mag_y;
+               n.mag_z = mag_z;
+
                return n;
        }
 
@@ -86,6 +100,11 @@ public class AltosIMU implements Cloneable {
                                listener.set_accel_ground(imu.accel_y,
                                                          imu.accel_x,
                                                          imu.accel_z);
+                               if (imu.mag_x != AltosLib.MISSING) {
+                                       listener.set_mag(cal_data.mag_along(imu.mag_y),
+                                                        cal_data.mag_across(imu.mag_x),
+                                                        cal_data.mag_through(imu.mag_z));
+                               }
                        }
                } catch (TimeoutException te) {
                }
@@ -99,6 +118,10 @@ public class AltosIMU implements Cloneable {
                gyro_x = AltosLib.MISSING;
                gyro_y = AltosLib.MISSING;
                gyro_z = AltosLib.MISSING;
+
+               mag_x = AltosLib.MISSING;
+               mag_y = AltosLib.MISSING;
+               mag_z = AltosLib.MISSING;
        }
 
        public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {